US20030090115A1 - Robot hand and robot hand finger - Google Patents
Robot hand and robot hand finger Download PDFInfo
- Publication number
- US20030090115A1 US20030090115A1 US10/288,954 US28895402A US2003090115A1 US 20030090115 A1 US20030090115 A1 US 20030090115A1 US 28895402 A US28895402 A US 28895402A US 2003090115 A1 US2003090115 A1 US 2003090115A1
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- United States
- Prior art keywords
- moving
- finger
- phalanx
- robot hand
- hinge
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39496—3-Fingered hand
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/907—Sensor controlled device
Definitions
- the present invention relates to a robot hand and a robot hand finger and, more particularly, to a robot hand finger that is capable of hooking and a hand that is capable of grasping a stuff stably by having the hooking-available robot hand finger.
- FIG. 1 is a plan view of a a multi-articular robot hand in accordance with a conventional art
- FIG. 2 is a side view showing an operation state of the robot hand of FIG. 1.
- the conventional robot hand includes a thumb 20 A, a forefinger 20 B, middle finger 20 C, third finger 20 D and a little finger 20 E in combination with a bracket 42 attached at front portion of an arm 41 of an industrial robot.
- the thumb 20 A is formed by connecting three phalanxes 25 - 27 to two axes 34 - 35 .
- the forefinger 20 B, the middle finger 20 C, the third finger 20 D and the little finger 20 E are formed by connecting four phalanxes 21 - 24 to three axes 31 - 33 .
- a pneumatic cylinder 43 is installed inside each of the phalanxes 21 - 24 and 26 of fingers 20 A- 20 E, and a vertical guide hole 45 is formed at a front end of a piston rod 44 .
- a pair of protrusions 46 are formed facing each other at a distal end of phalanxes 22 - 24 , 26 - 27 except the distal phalanx 21 and 25 of the fingers 20 A- 20 E, and a diagonal cam hole 47 and an axial hole 51 are formed at the protrusion 46 .
- a pair of support protrusions 48 are formed facing each other at a proximal end of the phalanxes 21 - 23 and 25 - 26 except the proximal phalanxes 24 and 27 of the fingers 20 A- 20 E, and an axial hole 49 a long hole 50 are formed at the support protrusion 48 .
- the protrusion 46 is inserted between the support protrusions 48 , and a central piece 52 is inserted penetrating the axial holes 49 and 51 so that the phalanx can be rotated.
- a support pin 53 is installed penetrating the long hole 50 , the vertical guide hole 45 of the piston rod 44 and the cam hole 47 , so as to make a hooking movement.
- Air injection ports 54 and 55 are formed at the pneumatic cylinder 43 .
- the robot hand can make a hooking movement with the axis portions 31 - 35 by the pneumatic pressure supplied to each pneumatic cylinder 43 under the control of a separately installed controller (not shown).
- the conventional multi-articular robot hand needs the pneumatic cylinder 43 as many as the axes 31 - 35 , resulting in that the construction elements of the robot hand is increased in number and its volume is enlarged.
- the fingers 20 A- 20 E are disposed in a straight line and can not make a horizontal movement. Thus, if a working stuff has a circular form, the fingers can hardly grasp it.
- a grasping force of the hand is to be changed suitably and actively depending on the working stuff to be grasped so as to stably grasp the working stuff and prevent a damage.
- the conventional robot hand fails to suitably and actively change the grasping force of the hand according to the working stuff.
- an object of the present invention is to provide a robot hand finger that is capable of making a movement such as an actual hand movement by forming a link structure to allow the robot hand finger to make a horizontal movement.
- Another object of the present invention is to provide a robot hand finger with the reduced number of driving units to move the fingers by installing a clutch device.
- Still another object of the present invention is to provide a robot hand finger that is capable of suitably and actively controlling a grasping force of a hand by installing a strain gage to measure an actual force working on the hand.
- Yet another object of the present invention is to provide a robot hand finger that is capable of making a hooking movement just like an actual hand movement with the small number of driving units by having a link structure for phalanxes of the robot hand finger.
- a robot hand including: a robot hand base portion; a moving finger installed at the side of the hand base portion; first and second horizontal moving guide installed facing each other, of which one end is hinge-coupled at the hand base portion and the other end is hinge-coupled at the moving finger, so as to form parallelogram 4-joint link structure to force the moving finger to move in the side direction of the moving finger; and a horizontal moving unit for making the horizontal moving guide to be rotated on the basis of a shaft hinge-coupled at the hand base portion.
- the link structure is formed to enable the robot hand finger to make a horizontal movement, so that it can be moved just like an actual hand movement.
- a robot hand including: a robot hand base portion; a moving finger installed at the side of the hand base portion; first and second horizontal moving guide installed facing each other, of which one end is hinge-coupled at the hand base portion and the other end is hinge-coupled at the moving finger, so as to form parallelogram 4-joint link structure to force the moving finger to move in the side direction of the moving finger; a second driving motor for making the horizontal moving guide to be rotated on the basis of a shaft hinge-coupled at the hand base portion; a horizontal movement driving force transferring unit installed between the second driving motor and the horizontal moving guide so as for the horizontal moving guide to be rotated by using a driving force of the second driving motor; a moving finger hooking unit to allow the moving finger to make a hooking movement; a fixed finger having a first phalanx fixed at the side of the hand base portion and a second phalanx hinge-coupled at the end of the first phalanx by a first joint; a fixed finger having a first phalanx fixed at the side
- the robot hand includes: a strain gage installed at the moving finger and the fixed finger; a calculator for calculating a strength of a force applied to the finger by measuring a voltage value from the stain gage; and a controller for controlling the first driving motor and the second driving motor by using the strength of the force calculated by the calculator.
- the grasping force of the hand can be suitably and actively controlled by measuring the force working on the robot hand.
- a robot hand finger including: first phalanx; second phalanx hinge-coupled at the distal end of the first phalanx by a first axis; third phalanx of which one end is hinge-coupled with the distal end of the second phalanx by a second axis; an auxiliary link of which one end is hinge-coupled with the first phalanx so as to cross a straight line connecting the first axis and the second axis and the other end is hinge-coupled with the third phalanx, in order to construct a 4-joint link forcing the third phalanx to be dependent to a rotational movement of the second phalanx in its moving; and a finger hooking unit for making the second phalanx to be moved centering around the first phalanx.
- FIG. 1 is a plan view of a multi-articular robot hand in accordance with a conventional art
- FIG. 2 is a side view of a hand of FIG. 1;
- FIG. 3 is a perspective view of a robot hand in accordance with one embodiment of the present invention.
- FIG. 4 is a side view of a moving finger of FIG. 3;
- FIGS. 5 through 7 show sequential steps of operation of the moving finger of FIG. 4, of which
- FIG. 5 is a side view of the moving finger in a state of being hooked
- FIG. 6 is a side view of the moving finger in a state of being unfolded.
- FIG. 7 is a side view of the moving finger in a state of being bent back
- FIG. 8 is a side view of a moving finger in accordance with another embodiment of the present invention.
- FIG. 9 is a partial cut perspective view of the robot hand of FIG. 3;
- FIGS. 10 and 11 are conceptual view showing the construction of a clutch unit of FIG. 9;
- FIGS. 12 and 13 are conceptual view showing a clutch unit in accordance with another embodiment of the present invention.
- FIG. 14 is a detailed view of a distal end of the third phalanx of FIG. 4;
- FIGS. 15 and 16 illustrate the structure of a robot hand in accordance with another embodiment of the present invention, of which
- FIG. 15 is a plan view of the robot hand.
- FIG. 16 is a plan view of the robot hand of FIG. 15 in a state of being unfolded
- FIGS. 17 and 18 illustrate the structure of a robot hand in accordance with still another embodiment of the present invention, of which
- FIG. 17 is a plan view of the robot hand.
- FIG. 18 is a plan view of the robot hand of FIG. 17 in a state of being unfolded.
- FIG. 3 is a perspective view of a robot hand in accordance with one embodiment of the present invention.
- a robot hand of the present invention includes: a hand base portion 100 in a pillar shape; moving fingers 200 b and 200 c installed at the side of the hand base portion 100 ; a fixed finger 200 A installed at the side 101 of the hand base portion 100 and making only a hooking movement; horizontal moving guides 311 and 312 of which one end is hinge-coupled with the moving fingers 200 B and 200 C and the other end is hinge-coupled at the hand base portion 100 ; and a horizontal moving unit for making the horizontal moving guides 311 and 312 to be rotated on the basis of the axis hinge-coupled with the hand base portion 100 .
- the hand base portion 100 consists of a side plate 101 octagonal pillared side plate 101 and an upper plate 102 covering the upper side of the side plate 101 .
- An opening 103 is formed at the side plate 101 where the moving fingers 200 B and 200 C are installed, into which the horizontal moving guides 311 and 312 are inserted.
- the robot hand fingers 200 A- 200 C includes more than one phalanx, consisting of the moving fingers 200 B and 200 C that are able to make a hooking movement and a horizontal movement, and a fixed finger 200 A that is able to make only a hooking movement.
- the fixed finger 200 A serves as a thumb.
- the first phalanx 251 of the fixed finger is fixed at the side 101 of the hand base portion 100 so that it can only make a hooking movement.
- the moving fingers 200 B and 200 C serving as other fingers (i.e., the forefinger and the third finger, etc.), are connected to the hand base portion 100 through the horizontal moving guides 311 and 312 so as to make the horizontal movement as well as the hooking movement.
- the robot hand fingers 200 A- 200 C include, respectively, first phalanxes 221 and 251 installed at the side of the hand base portion 100 ; second phalanxes 222 and 252 of which one ends are hinge-coupled at the distal ends of the first phalanxes 221 and 251 ; third phalanxes 223 and 253 of which one ends are hinge-coupled at the distal ends of the second phalanxes 222 and 252 ; first axes 211 and 241 for hinge-coupling the first phalanxes 221 and 251 and the second phalanxes 222 and 252 ; and second axes 212 and 242 for hinge-coupling the second phalanxes 222 and 252 and the third phalanxes 223 and 253 .
- the robot hand includes strain gages 501 and 502 on the third phalanxes 223 and 253 of the fingers 200 A- 200 C (that is, at the opposite side of grasping an object).
- the first phalanx 221 of the moving finger includes an opening 231 at the side facing the hand base portion 100 , into which the horizontal moving guides 311 and 312 can be inserted.
- the moving fingers 200 B and 200 C are symmetrically disposed so that they can make a symmetrical horizontal movement.
- FIG. 4 is a side view of a moving finger of FIG. 3.
- the moving finger 200 B includes an auxiliary link 228 of which one end is hinge-coupled with the first phalanx 221 and the other end is hinge-coupled with the third phalanx 223 so as to construct a 4-joint link that forces the third phalanx 223 to be moved dependent on the rotational movement of the second phalanx 222 , and a moving finger hooking unit 260 for making the moving finger 200 B to make a hooking movement.
- the auxiliary link 228 is installed to cross a straight line connecting the first axes 211 and the second axes 212 .
- a connector 224 is provided of which one end is fixed at the first phalanx 221 and the other end is hinge-coupled with the auxiliary link 228 , for facilitating installation of the auxiliary link 228 .
- the moving finger hooking unit 260 includes a bending worm gear 261 formed at the second phalanx 222 , a bending worm 262 moved in mesh with the bending worm gear 261 , and a first driving motor 263 for driving the bending worm 262 .
- the bending worm gear 261 is formed to cover the first axes 211 , and the bending worm 262 is fixed at a driving shaft 264 of the first driving motor.
- a cam engaging jaw 451 , a cam follower 452 , a fixing member 453 and a wire guide 454 as shown in FIG. 4 are to be described.
- FIGS. 5 through 7 show sequential steps of operation of the moving finger of FIG. 4, of which FIG. 5 is a side view of the moving finger in a state of being hooked, FIG. 6 is a side view of the moving finger in a state of being unfolded, and FIG. 7 is a side view of the moving finger in a state of being bent back.
- the second phalanx 222 , the third phalanx 223 , the first phalanx 221 and the auxiliary link 228 forms a 4-joint link structure. Accordingly, when the driving force of the first driving motor 263 rotates the second phalanx 222 through the bending warm 262 and the bending worm gear 261 , the third phalanx 223 is dependent on the second phalanx 222 according to the operation of the 4-joint link structure, so that the robot hand finger makes a hooking movement at a predetermined angle.
- the 4-joint link includes a first link 229 A formed by the first axis 211 and the hinge axis 226 at the side of the first phalanx 221 of the auxiliary link 228 , a second link 229 B formed by the auxiliary link 228 , a third link 229 C formed by the second phalanx 222 , and a fourth link 229 D formed by the second axis 212 and a hinge axis 227 at the side of the third phalanx 223 of the auxiliary link 228 .
- the first link 229 A is fixed, and when the third link 229 C is rotated by the first driving motor 263 , the fourth link 229 D is dependently rotated, so that the third phalanx 223 is rotated dependently on the rotational movement of the second phalanx 222 .
- FIG. 8 is a side view of a moving finger in accordance with another embodiment of the present invention.
- a moving finger 200 B has the same construction as that shown in FIG. 4, except for the moving finger hooking unit.
- the moving finger hooking unit 270 of the moving finger as shown in FIG. 8, includes a tension unit 273 of which one end is hinge-coupled with one side of the second phalanx 222 by a support member 271 and the other end is hinge-coupled with the same side of the first phalanx 221 by a support member 272 .
- the tensile force (a shrinkage force and an expansion force) of the tension unit 273 is transferred to the second phalanx 222 , and thanks to the transferred tensile force, the hooking movement of the moving finger can be made according to the operation of the 4-joint link structure in the same manner.
- the tension unit 273 can be a pneumatic or hydraulic cylinder which makes a linear movement.
- the moving finger 200 C has the same construction as that of the moving finger 200 B, except for the cam engaging jaw 451 , the cam follower 452 , the fixing member 453 and the wire guide 454 .
- the moving finger 200 C does not include the cam engaging jaw 451 , the cam follower 452 , the fixing member 453 and the wire guide 454 .
- FIG. 9 is a partial cut perspective view of the robot hand of FIG. 3.
- the fixed finger 200 A includes an auxiliary link (not shown) of which one end is hinge-coupled with the first phalanx 251 and the other end is hinge-coupled with the third phalanx 253 so as to construct a 4-joint link forcing the third phalanx 253 to be moved dependent on the rotational movement of the second phalanx 252 , and a fixed finger hooking unit 260 for rendering the fixed finger 200 A to make a hooking movement.
- the auxiliary link (not shown) is installed to cross a straight line connecting the first axes 241 and the second axes 242 .
- the fixed finger hooking unit includes a bending worm gear 265 formed at the second phalanx 252 , a bending worm 266 moved in mesh with the bending worm gear 265 , and a second driving motor 402 for driving the bending worm 266 .
- the fingers 200 A- 200 C in the preferred embodiment of the present invention have such an effect that more than three phalanxes can make a hooking movement by using the 4-joint link structure, so that the fingers can be operated similar to the actual hand movement by using the less number of driving motors.
- the first and second horizontal moving guides 311 and 312 are formed facing each other, of which one end is hinge-coupled with the hand base portion 100 and the other end is hinge-coupled with the moving fingers 200 B and 200 C, so as to form the parallelogram 4-joint link structure forcing the moving fingers 200 B and 200 C to be moved horizontally, respectively.
- One end of the horizontal moving guides 311 and 312 is inserted into the opening 103 formed at the side 101 of the hand base portion 100 and one end is inserted into the opening 231 formed at the side of the first phalanx 221 of the moving fingers 200 B and 200 C.
- the horizontal moving guides 311 and 312 are installed for every moving finger 200 B and 200 C.
- the horizontal moving unit includes a second driving motor 402 for driving the horizontal moving guides 311 and 312 to be rotated on the basis of the axis hinge-coupled with the hand base portion 100 , and a horizontal movement driving force transfer unit installed between the second driving motor 402 and the horizontal moving guides 311 and 312 so that the horizontal moving guides 311 and 312 can be rotated by using the driving force of the second driving motor 402 .
- the second driving motor 402 is installed such that a driving shaft faces the upper surface inside the hand base portion 100 .
- the horizontal movement driving force transfer unit includes a moving worm gear 411 formed at the second horizontal moving guide 312 of the moving fingers 200 B and 200 C, a moving worm 412 installed to be in mesh with two moving worm gears 411 simultaneously, and a clutch unit 430 for driving the moving worm 412 by means of the second driving motor 402 .
- the moving worm gear 411 can be formed at the first horizontal moving guide 311 .
- the clutch unit 430 selectively transfers the driving force of the second driving motor 402 to the horizontal movement driving force transfer unit and the fixed finger hooking unit by virtue of the hooking movement of the moving finger 200 B.
- the clutch unit includes a third bevel gear 433 formed at the driving shaft of the second driving motor 402 , a fifth bevel gear 435 formed facing the third bevel gear 433 and coaxially formed with the fixed finger bending worm 266 , a fourth bevel gear 434 coaxially formed with the moving worm 412 , a clutch shaft 437 installed parallel to a rotational shaft of the moving worm 412 and movable in the longitudinal direction between the third bevel gear 433 and the fifth bevel gear 435 , a cam unit for changing the hooking movement of the moving finger 200 B to a linear movement of the clutch shaft, a sixth bevel gear 436 formed at the clutch shaft 437 so as to be mesh with the third bevel gear 433 and the fifth bevel gear 435 simultaneously, and a first bevel gear 431 and a second bevel gear 432 formed at the clutch shaft 437 so as to be in mesh with the third bevel gear 433 and the fourth bevel gear 434 , respectively, by virtue of the clutch shaft 437
- FIGS. 10 and 11 are conceptual view showing the construction of a clutch unit of FIG. 9.
- the cam unit includes a cam engaging jaw 451 formed at the first axis 211 of the second phalanx 222 of the moving finger 200 B, a cam follower 452 linearly moved as being engaged with the cam engaging jaw 451 according to the rotation of the cam engaging jaw 451 , a wire 456 for connecting the cam follower 452 and the clutch shaft 437 , a wire guide 454 covering the wire 456 , a fixing member 453 for fixing the wire guide 454 inside the first phalanx 221 of the moving finger 200 B, and an elastic member 440 formed between the clutch shaft 437 and the wire guide 454 in order to return the clutch shaft 437 to its original position in case that a load applied to the cam follower 452 disappears as the second phalanx 222 of the moving finger is rotated in the opposite direction.
- the elastic member 440 is fixedly attached at the hand base portion 100 at one side thereof, and includes a fixed plate 443 to which the wire guide 454 is fixed, a moving plate 441 fixed at the clutch shaft 437 , and a spring 442 installed between the fixed plate 443 and the moving plate 441 .
- One side of the clutch shaft 437 prevents the rotational movement of the shaft from being transferred to the elastic member 440 and the wire 456 .
- one of the hooking movement of the fixed finger 200 A and the horizontal movement of the moving fingers 200 B and 200 C can be selected by controlling the movement of the moving finger 200 B.
- FIGS. 12 and 13 are conceptual view showing a clutch unit in accordance with another embodiment of the present invention, in which the mechanic operation is the opposite to that of FIGS. 10 and 11.
- the first bevel gear 431 and the second bevel gear 432 are formed to be in mesh with the third bevel gear 433 and the fourth bevel gear 434 at the clutch shaft 437 , and in case that the moving finger 200 B is bent, the sixth bevel gear 436 is formed at the clutch shaft 437 so as to be simultaneously in mesh with the third bevel gear 433 and the fifth bevel gear 435 by the movement of the clutch shaft 437 .
- the first bevel gear 431 is connected to the third bevel gear 433 and transfers the driving force of the driving motor 402 to the fourth bevel gear 434 through the second bevel gear 432 , thereby horizontally moving the moving fingers.
- the bevel gear 436 is connected to the third bevel gear 433 and transfers the driving force of the driving motor 432 to the fixed finger bending worm 266 through the fifth bevel gear 435 , so that the fixed finger 200 A makes a hooking movement.
- FIG. 14 is a detailed view of a distal end of the third phalanx of FIG. 4.
- First four strain gages 501 are attached to the side forming the third phalanxes 223 and 253 so as to be connected as a first full bridge circuit, and second four strain gages 502 are attached at the same side but spaced as long as L off so as to be connected as a second full bridge circuit.
- V 1 K g ⁇ e ⁇ ( F ⁇ ⁇ L ⁇ ⁇ h 2 ⁇ ⁇ E ⁇ ⁇ I ) ⁇ K a
- V 2 K g ⁇ e ⁇ [ F ⁇ ( L + L off ) ⁇ h 2 ⁇ ⁇ E ⁇ ⁇ I ] ⁇ K a
- K g gage constant
- E Young's modulus of phalanx
- h a thickness of section of phalanx
- I an area moment of phalanx
- K a amp constant
- the force working on the finger can be accurately predicted by measuring the two output voltages, and a sensitivity of the strain gage can be changed by adjusting the dimensions of the section of the first phalanx.
- the calculating unit calculates the force working on the robot hand finger from the output voltage of the strain gage and applies it to the controller (not shown) of the robot hand. Then, the controller controls the driving motors to control the hooking movement of the robot hand finger.
- FIGS. 15 and 16 illustrate the structure of a robot hand in accordance with another embodiment of the present invention.
- FIG. 15 shows a robot hand consisting of two fixed fingers 200 A and 200 D that can make a hooking movement and two moving fingers 200 B and 200 C that can make a horizontal movement and a hooking movement.
- FIG. 16 is a plan view of the robot hand of FIG. 15 in a state of being unfolded.
- FIGS. 17 and 18 illustrate the structure of a robot hand in accordance with still another embodiment of the present invention, of which
- FIG. 17 shows a robot hand having four moving fingers 400 A- 400 D which can make a horizontal movement and a hooking movement without a fixed finger.
- FIG. 18 is a plan view of the robot hand of FIG. 17 in a state of being unfolded.
- At least one of robot hand fingers can make a hooking movement by selectively using a driving motor which drives a horizontal movement of other robot hand finger, rather than using some other driving motor.
- a driving motor which drives a horizontal movement of other robot hand finger
- the force of the hand (that is, the grasping force) can be accurately predicted.
- a suitable and stable force can be applied to a working stuff.
Abstract
Description
- 1. Field of the Invention
- The present invention relates to a robot hand and a robot hand finger and, more particularly, to a robot hand finger that is capable of hooking and a hand that is capable of grasping a stuff stably by having the hooking-available robot hand finger.
- 2. Description of the Background Art
- FIG. 1 is a plan view of a a multi-articular robot hand in accordance with a conventional art, and FIG. 2 is a side view showing an operation state of the robot hand of FIG. 1.
- The conventional robot hand includes a
thumb 20A, a forefinger 20B,middle finger 20C,third finger 20D and alittle finger 20E in combination with abracket 42 attached at front portion of anarm 41 of an industrial robot. - The
thumb 20A is formed by connecting three phalanxes 25-27 to two axes 34-35. - The forefinger20B, the
middle finger 20C, thethird finger 20D and thelittle finger 20E are formed by connecting four phalanxes 21-24 to three axes 31-33. - A
pneumatic cylinder 43 is installed inside each of the phalanxes 21-24 and 26 offingers 20A-20E, and avertical guide hole 45 is formed at a front end of apiston rod 44. - A pair of
protrusions 46 are formed facing each other at a distal end of phalanxes 22-24, 26-27 except thedistal phalanx fingers 20A-20E, and adiagonal cam hole 47 and an axial hole 51 are formed at theprotrusion 46. - A pair of
support protrusions 48 are formed facing each other at a proximal end of the phalanxes 21-23 and 25-26 except theproximal phalanxes fingers 20A-20E, and an axial hole 49 along hole 50 are formed at thesupport protrusion 48. - The
protrusion 46 is inserted between thesupport protrusions 48, and acentral piece 52 is inserted penetrating the axial holes 49 and 51 so that the phalanx can be rotated. - A
support pin 53 is installed penetrating thelong hole 50, thevertical guide hole 45 of thepiston rod 44 and thecam hole 47, so as to make a hooking movement.Air injection ports pneumatic cylinder 43. - As shown in FIGS. 1 and 2, the robot hand can make a hooking movement with the axis portions31-35 by the pneumatic pressure supplied to each
pneumatic cylinder 43 under the control of a separately installed controller (not shown). - The operation of the conventional multi-articular robot hand constructed as described above will now be described.
- When air is supplied to the
air injection port 54 of thepneumatic cylinder 43 by the controller (not shown), thepiston rod 44 is moved forwardly, thesupport pin 53 is guided to be downwardly moved by thecam hole 47, and thephalanx 22 makes an upward hooking movement centering around thecentral pin 52. - When air is supplied to the other
air injection port 55 of thepneumatic cylinder 43, the phalanx is unfolded as the above process is reversely performed. - In order to make the
fingers 20A-20E to move, the conventional multi-articular robot hand needs thepneumatic cylinder 43 as many as the axes 31-35, resulting in that the construction elements of the robot hand is increased in number and its volume is enlarged. - In addition, the
fingers 20A-20E are disposed in a straight line and can not make a horizontal movement. Thus, if a working stuff has a circular form, the fingers can hardly grasp it. - Moreover, a grasping force of the hand is to be changed suitably and actively depending on the working stuff to be grasped so as to stably grasp the working stuff and prevent a damage. But the conventional robot hand fails to suitably and actively change the grasping force of the hand according to the working stuff.
- Therefore, an object of the present invention is to provide a robot hand finger that is capable of making a movement such as an actual hand movement by forming a link structure to allow the robot hand finger to make a horizontal movement.
- Another object of the present invention is to provide a robot hand finger with the reduced number of driving units to move the fingers by installing a clutch device.
- Still another object of the present invention is to provide a robot hand finger that is capable of suitably and actively controlling a grasping force of a hand by installing a strain gage to measure an actual force working on the hand.
- Yet another object of the present invention is to provide a robot hand finger that is capable of making a hooking movement just like an actual hand movement with the small number of driving units by having a link structure for phalanxes of the robot hand finger.
- To achieve these and other advantages and in accordance with the purpose of the present invention, as embodied and broadly described herein, there is provided a robot hand including: a robot hand base portion; a moving finger installed at the side of the hand base portion; first and second horizontal moving guide installed facing each other, of which one end is hinge-coupled at the hand base portion and the other end is hinge-coupled at the moving finger, so as to form parallelogram 4-joint link structure to force the moving finger to move in the side direction of the moving finger; and a horizontal moving unit for making the horizontal moving guide to be rotated on the basis of a shaft hinge-coupled at the hand base portion.
- In such manner, the link structure is formed to enable the robot hand finger to make a horizontal movement, so that it can be moved just like an actual hand movement.
- To achieve the above objects, there is also provided a robot hand including: a robot hand base portion; a moving finger installed at the side of the hand base portion; first and second horizontal moving guide installed facing each other, of which one end is hinge-coupled at the hand base portion and the other end is hinge-coupled at the moving finger, so as to form parallelogram 4-joint link structure to force the moving finger to move in the side direction of the moving finger; a second driving motor for making the horizontal moving guide to be rotated on the basis of a shaft hinge-coupled at the hand base portion; a horizontal movement driving force transferring unit installed between the second driving motor and the horizontal moving guide so as for the horizontal moving guide to be rotated by using a driving force of the second driving motor; a moving finger hooking unit to allow the moving finger to make a hooking movement; a fixed finger having a first phalanx fixed at the side of the hand base portion and a second phalanx hinge-coupled at the end of the first phalanx by a first joint; a fixed finger hooking unit installed between the second driving motor and the fixed finger to allow the fixed finger to make a hooking movement by using the driving force of the second driving motor; and a clutch unit selectively transferring the driving force of the second driving motor to one of the horizontal movement driving force transferring unit and the fixed finger hooking unit by the hooking movement of the moving finger.
- Accordingly, by having the clutch unit, the number of driving units for moving the robot hand finger can be reduced.
- Preferably, the robot hand includes: a strain gage installed at the moving finger and the fixed finger; a calculator for calculating a strength of a force applied to the finger by measuring a voltage value from the stain gage; and a controller for controlling the first driving motor and the second driving motor by using the strength of the force calculated by the calculator.
- Accordingly, the grasping force of the hand can be suitably and actively controlled by measuring the force working on the robot hand.
- To achieve the above object s, there is also provided a robot hand finger including: first phalanx; second phalanx hinge-coupled at the distal end of the first phalanx by a first axis; third phalanx of which one end is hinge-coupled with the distal end of the second phalanx by a second axis; an auxiliary link of which one end is hinge-coupled with the first phalanx so as to cross a straight line connecting the first axis and the second axis and the other end is hinge-coupled with the third phalanx, in order to construct a 4-joint link forcing the third phalanx to be dependent to a rotational movement of the second phalanx in its moving; and a finger hooking unit for making the second phalanx to be moved centering around the first phalanx.
- Accordingly, by forming the link structure for the phalanxes of the robot hand finger, the hooking movement just like an actual hand movement can be possibly performed with the less number of driving units.
- The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.
- The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.
- In the drawings:
- FIG. 1 is a plan view of a multi-articular robot hand in accordance with a conventional art;
- FIG. 2 is a side view of a hand of FIG. 1;
- FIG. 3 is a perspective view of a robot hand in accordance with one embodiment of the present invention;
- FIG. 4 is a side view of a moving finger of FIG. 3;
- FIGS. 5 through 7 show sequential steps of operation of the moving finger of FIG. 4, of which
- FIG. 5 is a side view of the moving finger in a state of being hooked;
- FIG. 6 is a side view of the moving finger in a state of being unfolded; and
- FIG. 7 is a side view of the moving finger in a state of being bent back;
- FIG. 8 is a side view of a moving finger in accordance with another embodiment of the present invention;
- FIG. 9 is a partial cut perspective view of the robot hand of FIG. 3;
- FIGS. 10 and 11 are conceptual view showing the construction of a clutch unit of FIG. 9;
- FIGS. 12 and 13 are conceptual view showing a clutch unit in accordance with another embodiment of the present invention;
- FIG. 14 is a detailed view of a distal end of the third phalanx of FIG. 4;
- FIGS. 15 and 16 illustrate the structure of a robot hand in accordance with another embodiment of the present invention, of which
- FIG. 15 is a plan view of the robot hand; and
- FIG. 16 is a plan view of the robot hand of FIG. 15 in a state of being unfolded;
- FIGS. 17 and 18 illustrate the structure of a robot hand in accordance with still another embodiment of the present invention, of which
- FIG. 17 is a plan view of the robot hand; and
- FIG. 18 is a plan view of the robot hand of FIG. 17 in a state of being unfolded.
- Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.
- FIG. 3 is a perspective view of a robot hand in accordance with one embodiment of the present invention.
- A robot hand of the present invention includes: a
hand base portion 100 in a pillar shape; moving fingers 200 b and 200 c installed at the side of thehand base portion 100; a fixedfinger 200A installed at theside 101 of thehand base portion 100 and making only a hooking movement;horizontal moving guides fingers hand base portion 100; and a horizontal moving unit for making thehorizontal moving guides hand base portion 100. - The
hand base portion 100 consists of aside plate 101 octagonalpillared side plate 101 and anupper plate 102 covering the upper side of theside plate 101. Anopening 103 is formed at theside plate 101 where the movingfingers - The
robot hand fingers 200A-200C includes more than one phalanx, consisting of the movingfingers fixed finger 200A that is able to make only a hooking movement. - The fixed
finger 200A serves as a thumb. Thefirst phalanx 251 of the fixed finger is fixed at theside 101 of thehand base portion 100 so that it can only make a hooking movement. The movingfingers hand base portion 100 through the horizontal moving guides 311 and 312 so as to make the horizontal movement as well as the hooking movement. - The
robot hand fingers 200A-200C include, respectively,first phalanxes hand base portion 100;second phalanxes first phalanxes third phalanxes second phalanxes first axes first phalanxes second phalanxes second axes second phalanxes third phalanxes - The robot hand includes
strain gages third phalanxes fingers 200A-200C (that is, at the opposite side of grasping an object). - The
first phalanx 221 of the moving finger includes anopening 231 at the side facing thehand base portion 100, into which the horizontal moving guides 311 and 312 can be inserted. - The moving
fingers - FIG. 4 is a side view of a moving finger of FIG. 3.
- The moving
finger 200B includes anauxiliary link 228 of which one end is hinge-coupled with thefirst phalanx 221 and the other end is hinge-coupled with thethird phalanx 223 so as to construct a 4-joint link that forces thethird phalanx 223 to be moved dependent on the rotational movement of thesecond phalanx 222, and a movingfinger hooking unit 260 for making the movingfinger 200B to make a hooking movement. - The
auxiliary link 228 is installed to cross a straight line connecting thefirst axes 211 and thesecond axes 212. - Preferably, a
connector 224 is provided of which one end is fixed at thefirst phalanx 221 and the other end is hinge-coupled with theauxiliary link 228, for facilitating installation of theauxiliary link 228. - The moving
finger hooking unit 260 includes a bendingworm gear 261 formed at thesecond phalanx 222, a bendingworm 262 moved in mesh with the bendingworm gear 261, and afirst driving motor 263 for driving the bendingworm 262. - The bending
worm gear 261 is formed to cover thefirst axes 211, and the bendingworm 262 is fixed at a drivingshaft 264 of the first driving motor. - A
cam engaging jaw 451, acam follower 452, a fixingmember 453 and awire guide 454 as shown in FIG. 4 are to be described. - FIGS. 5 through 7 show sequential steps of operation of the moving finger of FIG. 4, of which FIG. 5 is a side view of the moving finger in a state of being hooked, FIG. 6 is a side view of the moving finger in a state of being unfolded, and FIG. 7 is a side view of the moving finger in a state of being bent back.
- As shown in FIGS. 5 through 7, the
second phalanx 222, thethird phalanx 223, thefirst phalanx 221 and theauxiliary link 228 forms a 4-joint link structure. Accordingly, when the driving force of thefirst driving motor 263 rotates thesecond phalanx 222 through the bending warm 262 and the bendingworm gear 261, thethird phalanx 223 is dependent on thesecond phalanx 222 according to the operation of the 4-joint link structure, so that the robot hand finger makes a hooking movement at a predetermined angle. - The 4-joint link includes a
first link 229A formed by thefirst axis 211 and thehinge axis 226 at the side of thefirst phalanx 221 of theauxiliary link 228, asecond link 229B formed by theauxiliary link 228, athird link 229C formed by thesecond phalanx 222, and afourth link 229D formed by thesecond axis 212 and ahinge axis 227 at the side of thethird phalanx 223 of theauxiliary link 228. - The
first link 229A is fixed, and when thethird link 229C is rotated by thefirst driving motor 263, thefourth link 229D is dependently rotated, so that thethird phalanx 223 is rotated dependently on the rotational movement of thesecond phalanx 222. - FIG. 8 is a side view of a moving finger in accordance with another embodiment of the present invention.
- A moving
finger 200B has the same construction as that shown in FIG. 4, except for the moving finger hooking unit. - The moving
finger hooking unit 270 of the moving finger as shown in FIG. 8, includes atension unit 273 of which one end is hinge-coupled with one side of thesecond phalanx 222 by asupport member 271 and the other end is hinge-coupled with the same side of thefirst phalanx 221 by asupport member 272. - The tensile force (a shrinkage force and an expansion force) of the
tension unit 273 is transferred to thesecond phalanx 222, and thanks to the transferred tensile force, the hooking movement of the moving finger can be made according to the operation of the 4-joint link structure in the same manner. Thetension unit 273 can be a pneumatic or hydraulic cylinder which makes a linear movement. - The moving
finger 200C has the same construction as that of the movingfinger 200B, except for thecam engaging jaw 451, thecam follower 452, the fixingmember 453 and thewire guide 454. The movingfinger 200C does not include thecam engaging jaw 451, thecam follower 452, the fixingmember 453 and thewire guide 454. - FIG. 9 is a partial cut perspective view of the robot hand of FIG. 3.
- The fixed
finger 200A includes an auxiliary link (not shown) of which one end is hinge-coupled with thefirst phalanx 251 and the other end is hinge-coupled with thethird phalanx 253 so as to construct a 4-joint link forcing thethird phalanx 253 to be moved dependent on the rotational movement of thesecond phalanx 252, and a fixedfinger hooking unit 260 for rendering the fixedfinger 200A to make a hooking movement. - The auxiliary link (not shown) is installed to cross a straight line connecting the
first axes 241 and thesecond axes 242. - The fixed finger hooking unit includes a bending
worm gear 265 formed at thesecond phalanx 252, a bendingworm 266 moved in mesh with the bendingworm gear 265, and asecond driving motor 402 for driving the bendingworm 266. - The
fingers 200A-200C in the preferred embodiment of the present invention have such an effect that more than three phalanxes can make a hooking movement by using the 4-joint link structure, so that the fingers can be operated similar to the actual hand movement by using the less number of driving motors. - The first and second horizontal moving
guides hand base portion 100 and the other end is hinge-coupled with the movingfingers fingers - One end of the horizontal moving guides311 and 312 is inserted into the
opening 103 formed at theside 101 of thehand base portion 100 and one end is inserted into theopening 231 formed at the side of thefirst phalanx 221 of the movingfingers finger - The horizontal moving unit includes a
second driving motor 402 for driving the horizontal moving guides 311 and 312 to be rotated on the basis of the axis hinge-coupled with thehand base portion 100, and a horizontal movement driving force transfer unit installed between thesecond driving motor 402 and the horizontal moving guides 311 and 312 so that the horizontal moving guides 311 and 312 can be rotated by using the driving force of thesecond driving motor 402. - The
second driving motor 402 is installed such that a driving shaft faces the upper surface inside thehand base portion 100. - The horizontal movement driving force transfer unit includes a moving
worm gear 411 formed at the second horizontal movingguide 312 of the movingfingers worm 412 installed to be in mesh with two movingworm gears 411 simultaneously, and aclutch unit 430 for driving the movingworm 412 by means of thesecond driving motor 402. The movingworm gear 411 can be formed at the first horizontal movingguide 311. - As noted above, because the moving
fingers fingers - In addition, since the two moving
fingers - As well as making the moving
worm 412 work by means of thesecond driving motor 402, theclutch unit 430 selectively transfers the driving force of thesecond driving motor 402 to the horizontal movement driving force transfer unit and the fixed finger hooking unit by virtue of the hooking movement of the movingfinger 200B. - The clutch unit includes a
third bevel gear 433 formed at the driving shaft of thesecond driving motor 402, afifth bevel gear 435 formed facing thethird bevel gear 433 and coaxially formed with the fixedfinger bending worm 266, afourth bevel gear 434 coaxially formed with the movingworm 412, aclutch shaft 437 installed parallel to a rotational shaft of the movingworm 412 and movable in the longitudinal direction between thethird bevel gear 433 and thefifth bevel gear 435, a cam unit for changing the hooking movement of the movingfinger 200B to a linear movement of the clutch shaft, asixth bevel gear 436 formed at theclutch shaft 437 so as to be mesh with thethird bevel gear 433 and thefifth bevel gear 435 simultaneously, and afirst bevel gear 431 and asecond bevel gear 432 formed at theclutch shaft 437 so as to be in mesh with thethird bevel gear 433 and thefourth bevel gear 434, respectively, by virtue of theclutch shaft 437. - FIGS. 10 and 11 are conceptual view showing the construction of a clutch unit of FIG. 9.
- The cam unit includes a
cam engaging jaw 451 formed at thefirst axis 211 of thesecond phalanx 222 of the movingfinger 200B, acam follower 452 linearly moved as being engaged with thecam engaging jaw 451 according to the rotation of thecam engaging jaw 451, awire 456 for connecting thecam follower 452 and theclutch shaft 437, awire guide 454 covering thewire 456, a fixingmember 453 for fixing thewire guide 454 inside thefirst phalanx 221 of the movingfinger 200B, and anelastic member 440 formed between theclutch shaft 437 and thewire guide 454 in order to return theclutch shaft 437 to its original position in case that a load applied to thecam follower 452 disappears as thesecond phalanx 222 of the moving finger is rotated in the opposite direction. - The
elastic member 440 is fixedly attached at thehand base portion 100 at one side thereof, and includes a fixedplate 443 to which thewire guide 454 is fixed, a movingplate 441 fixed at theclutch shaft 437, and aspring 442 installed between thefixed plate 443 and the movingplate 441. - One side of the
clutch shaft 437 prevents the rotational movement of the shaft from being transferred to theelastic member 440 and thewire 456. - As shown in FIG. 10, in a clutch release state that the
cam engaging jaw 451 is not in contact with the cam follower 452 (that is, in a state that thefinger 200B is unfolded), the driving force generated from thesecond driving motor 402 is transferred to thesixth bevel gear 436 and thefifth bevel gear 435 through thethird bevel gear 433 to drive the fixedfinger bending worm 266 and the fixed finger bendingworm gear 265 connected to thesecond phalanx 252 of the fixedfinger 200A, whereby the fixedfinger 200A can make a hooking movement. - Since the driving force is not transferred to the moving
worm 412, the movingfingers - As shown in FIG. 11, in such a clutch operation state that the
cam engaging jaw 451 is in contact with the cam follower 452 (that is, in a state that the movingfinger 200B is bent at the maximum), thecam follower 452 pulls up thewire 456 inside thewire guide 454. Then, theclutch shaft 437 connected to thewire 456 is moved so that thesixth bevel gear 436 is separated from thefifth bevel gear 435 and thesecond bevel gear 432 is connected to thefourth bevel gear 434, and accordingly, the driving force of thesecond driving motor 402 is transferred to the movingworm 412, whereby the movingfingers - When the moving
finger 200B is unfolded, it returns to the clutch release state of FIG. 10 automatically by the elastic member, so that the fixedfinger 200A makes a hooking movement. - In this manner, one of the hooking movement of the fixed
finger 200A and the horizontal movement of the movingfingers finger 200B. - The hooking movement and the horizontal movement are made by means of the worm and the worm gear. Thus, while one movement is being made, the other movement is maintained at the previous state even if an external force is applied thereto owing to the characteristics of the worm gear.
- FIGS. 12 and 13 are conceptual view showing a clutch unit in accordance with another embodiment of the present invention, in which the mechanic operation is the opposite to that of FIGS. 10 and 11.
- In a state that the moving
finger 200B is unfolded, thefirst bevel gear 431 and thesecond bevel gear 432 are formed to be in mesh with thethird bevel gear 433 and thefourth bevel gear 434 at theclutch shaft 437, and in case that the movingfinger 200B is bent, thesixth bevel gear 436 is formed at theclutch shaft 437 so as to be simultaneously in mesh with thethird bevel gear 433 and thefifth bevel gear 435 by the movement of theclutch shaft 437. - Other construction is the same as the clutch unit of FIG. 10.
- With reference to FIG. 12, in a state that the clutch is not operated, the
first bevel gear 431 is connected to thethird bevel gear 433 and transfers the driving force of the drivingmotor 402 to thefourth bevel gear 434 through thesecond bevel gear 432, thereby horizontally moving the moving fingers. - With reference to FIG. 13, in a state that the clutch is being operated, the
bevel gear 436 is connected to thethird bevel gear 433 and transfers the driving force of the drivingmotor 432 to the fixedfinger bending worm 266 through thefifth bevel gear 435, so that the fixedfinger 200A makes a hooking movement. - That is, the horizontal movement of the fingers in the operation or non-operation of the clutch can be controlled by changing the combination of the bevel gears.
- FIG. 14 is a detailed view of a distal end of the third phalanx of FIG. 4.
- First four
strain gages 501 are attached to the side forming thethird phalanxes strain gages 502 are attached at the same side but spaced as long as Loff so as to be connected as a second full bridge circuit. -
-
-
- wherein Kg=gage constant, ‘e’=an input voltage of a bridge circuit, ‘E’=Young's modulus of phalanx, ‘h’=a thickness of section of phalanx, ‘I’=an area moment of phalanx, and Ka=amp constant.
- As stated above, the force working on the finger can be accurately predicted by measuring the two output voltages, and a sensitivity of the strain gage can be changed by adjusting the dimensions of the section of the first phalanx.
- The calculating unit (not shown) calculates the force working on the robot hand finger from the output voltage of the strain gage and applies it to the controller (not shown) of the robot hand. Then, the controller controls the driving motors to control the hooking movement of the robot hand finger.
- FIGS. 15 and 16 illustrate the structure of a robot hand in accordance with another embodiment of the present invention.
- FIG. 15 shows a robot hand consisting of two fixed
fingers fingers - According to a hooking movement of either one of the moving
fingers fingers fingers - FIG. 16 is a plan view of the robot hand of FIG. 15 in a state of being unfolded.
- FIGS. 17 and 18 illustrate the structure of a robot hand in accordance with still another embodiment of the present invention, of which
- FIG. 17 shows a robot hand having four moving
fingers 400A-400D which can make a horizontal movement and a hooking movement without a fixed finger. - As one or more moving
fingers 400A-400D make a hooking movement, the remaining fingers make a horizontal movement. - FIG. 18 is a plan view of the robot hand of FIG. 17 in a state of being unfolded.
- As so far described, the robot hand of the present invention has many advantages.
- That is, for example, first, since the robot hand finger consisting of more than three phalanxes can make a hooking movement by using the 4-joint link structure, driving motors can be reduced in number to operate the robot hand just like an actual hand movement.
- Second, by using the mechanical clutch structure, at least one of robot hand fingers can make a hooking movement by selectively using a driving motor which drives a horizontal movement of other robot hand finger, rather than using some other driving motor. Thus, the construction parts and size of the overall robot hand can be reduced.
- In addition, thanks to the mechanical clutch structure, no mechanical interference occurs between the hooking movement of the finger which does not have the driving motor and the horizontal movement of other fingers.
- Last, by attaching the strain gage to the robot hand, the force of the hand (that is, the grasping force) can be accurately predicted. Thus, a suitable and stable force can be applied to a working stuff.
- As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, unless otherwise specified, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the metes and bounds of the claims, or equivalence of such metes and bounds are therefore intended to be embraced by the appended claims.
Claims (19)
Applications Claiming Priority (2)
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KR69841/2001 | 2001-11-09 | ||
KR10-2001-0069841A KR100451412B1 (en) | 2001-11-09 | 2001-11-09 | Multi-fingered robot hand |
Publications (2)
Publication Number | Publication Date |
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US20030090115A1 true US20030090115A1 (en) | 2003-05-15 |
US6918622B2 US6918622B2 (en) | 2005-07-19 |
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Application Number | Title | Priority Date | Filing Date |
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US10/288,954 Expired - Fee Related US6918622B2 (en) | 2001-11-09 | 2002-11-06 | Robot hand and robot hand finger |
Country Status (3)
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US (1) | US6918622B2 (en) |
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KR (1) | KR100451412B1 (en) |
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Also Published As
Publication number | Publication date |
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KR20030039040A (en) | 2003-05-17 |
JP2003275984A (en) | 2003-09-30 |
JP3721354B2 (en) | 2005-11-30 |
US6918622B2 (en) | 2005-07-19 |
KR100451412B1 (en) | 2004-10-06 |
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